Merge branch 'DH_Raman' of https://github.com/h840473807/Uni-Lab-OS into DH_Raman

examples/dh_7000_eis.py

@@ -6,7 +6,7 @@ if(rclpy.ok() == False):
 else:
     print("rclpy already initiated")
 
-from unilabos.devices.dh_electrochem.dh_7000 import DH7000
+from unilabos.devices.electrochem.dh_7000 import DH7000
 from unilabos_msgs.action import SendCmd
 from std_msgs.msg import Float64, String, Int16
 from unilabos.ros.device_node_wrapper import ros2_device_node

examples/opsky_30007_raman.py

@@ -6,12 +6,10 @@ if(rclpy.ok() == False):
 else:
     print("rclpy already initiated")
 
-from unilabos.devices.opsky_Raman.opsky_ATR30007 import ATR30007
+from unilabos.devices.raman_uv.opsky_ATR30007 import ATR30007
 from unilabos_msgs.action import SendCmd
-from std_msgs.msg import Float64, String, Int16
 from unilabos.ros.device_node_wrapper import ros2_device_node
-import clr
+
-import os
 # dll_path = r'D:\UniLab\code\DHElecChem\release64'
 # eccore_dll_path = os.path.join(dll_path, 'ECCore.dll')
 # os.environ["PATH"] = dll_path + os.pathsep + os.environ["PATH"]

unilabos/devices/electrochem/dh_7000.py

@@ -498,7 +498,7 @@ class DH7000:
         print(f"数据已保存到 {save_root}")
 
     # === Core: a unified dh_cmd method that calls start_eis or start_lsv according to methods ===
-    def dh_cmd(self, command: str):
+    def dh_cmd(self, method: str, command: str, resource: dict):
         """
         Unified handler for different commands such as EIS / LSV / CV / CA.
         In the incoming command JSON, use the key "methods" to specify the measurement type: "eis", "lsv", etc.
@@ -516,7 +516,7 @@ class DH7000:
             print(f"命令参数: {cmd_dict}")
 
             # Extract measurement method, default to "EIS" if not specified
-            method = cmd_dict.pop("methods", "eis").lower()
+            # method = cmd_dict.pop("methods", "eis").lower()
             # Extract file save path (may not be provided)
             save_root = cmd_dict.get("save_root", r"D:\UniLab\results\test")
 

unilabos/devices/raman_uv/opsky_ATR30007.py

@@ -1,20 +1,18 @@
-import clr 
-import os
-import time
-import pandas as pd
 import json
-import shutil
+import os
-import sys
-import time
-from System import Environment
 
-# define class ATR30007 
+import clr
+import pandas as pd
+
+
+# define class ATR30007
 # this class is used to control the ATR30007 Raman workstation
 
 class ATR30007:
     def __init__(self, dll_path: str = r'D:\Raman_RS'):
         self.dll_path = dll_path
         self.machine = None
+        self.status = "Idle"
         self._load_dll()
 
     def _load_dll(self):
@@ -59,6 +57,7 @@ class ATR30007:
         SetC_flag = self.machine.SetCool(CCDTemp)
         print(f"SetC_flag:{SetC_flag}")
         #开始采集光谱
+        self.status = "Running"
         Spect = self.machine.AcquireSpectrum()
         #开始采集光谱谱图数据转换
         Spect_data =  list(Spect.get_Data())
@@ -70,6 +69,8 @@ class ATR30007:
         Spect_bLC = list(self.machine.BaseLineCorrect(Spect_data))
         #对数据进行boxcar 平滑
         Spect_StB = list(self.machine.SmoothBoxcar(Spect_bLC, 10))
+
+        self.status = "Idle"
         #关闭仪器
         OFF_flag = wrapper.CloseDevice()
         print(f"OFF_flag: {OFF_flag}")

unilabos/registry/devices/characterization_chromatographic.yaml

@@ -0,0 +1,44 @@
+# 色谱表征设备
+hplc.agilent:
+  description: HPLC device
+  class:
+    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    type: python
+    status_types:
+      device_status: String
+      could_run: Bool
+      driver_init_ok: Bool
+      is_running: Bool
+      finish_status: String
+      status_text: String
+    action_value_mappings:
+      execute_command_from_outer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      device_status:
+        type: string
+      could_run:
+        type: boolean
+      driver_init_ok:
+        type: boolean
+      is_running:
+        type: boolean
+      finish_status:
+        type: string
+      status_text:
+        type: string
+    required:
+    - device_status
+    - could_run
+    - driver_init_ok
+    - is_running
+    - finish_status
+    - status_text
+    additionalProperties: false
+    type: object

unilabos/registry/devices/characterization_electric.yaml

@@ -0,0 +1,19 @@
+# 电化学表征设备：电化学工作站、电池测试柜
+electrochem_station.DongHua:
+  description: Donghua electrochem_station
+  class:
+    module: unilabos.devices.electrochem.dh_7000:DH7000
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      dh_cmd:
+        type: WorkStationRun
+        goal:
+          wf_name: method
+          params: command
+          resource: resource
+        feedback:
+          status: status
+        result:
+          success: success

unilabos/registry/devices/characterization_optic.yaml

@@ -1,5 +1,5 @@
 # 光学表征设备：红外、紫外可见、拉曼等
-raman_home_made:
+raman.home_made:
   description: Raman spectroscopy device
   class:
     module: unilabos.devices.raman_uv.home_made_raman:RamanObj
@@ -22,46 +22,24 @@ raman_home_made:
     - status
     additionalProperties: false
     type: object
-hplc.agilent:
+
-  description: HPLC device
+raman.opsky_ATR30007:
+  description: Raman spectroscopy device
   class:
-    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    module: unilabos.devices.raman_uv.opsky_raman:ATR30007
     type: python
     status_types:
-      device_status: String
+      status: String
-      could_run: Bool
-      driver_init_ok: Bool
-      is_running: Bool
-      finish_status: String
-      status_text: String
     action_value_mappings:
-      execute_command_from_outer:
+      start_Raman:
-        type: SendCmd
+        type: GetRaman
         goal:
-          command: command
+          integtime: IntegTime
-        feedback: {}
+          ldpower: LdPower
-        result:
+          ldwave: LdWave
-          success: success
+          ccdtemp: CCDTemp
-  schema:
+          filename: filename
-    properties:
+          saveroot: saveroot
-      device_status:
+        feedback:
-        type: string
+          status: status
-      could_run:
+        result: {}
-        type: boolean
-      driver_init_ok:
-        type: boolean
-      is_running:
-        type: boolean
-      finish_status:
-        type: string
-      status_text:
-        type: string
-    required:
-    - device_status
-    - could_run
-    - driver_init_ok
-    - is_running
-    - finish_status
-    - status_text
-    additionalProperties: false
-    type: object

unilabos_msgs/CMakeLists.txt

@@ -49,6 +49,8 @@ set(action_files
   "action/Evaporate.action"
   "action/EvacuateAndRefill.action"
 
+  "action/GetRaman.action"
+
   "action/WorkStationRun.action"
   "action/AGVTransfer.action"
 )

unilabos_msgs/action/GetRaman.action

@@ -0,0 +1,13 @@
+# Goal
+int32 integtime
+int32 ldpower
+bool ldwave
+float64 ccdtemp
+string filename
+string saveroot
+---
+# Result
+string success
+---
+# Feedback
+string status